CN110656609B - Cleaning equipment - Google Patents
Cleaning equipment Download PDFInfo
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- CN110656609B CN110656609B CN201910919221.1A CN201910919221A CN110656609B CN 110656609 B CN110656609 B CN 110656609B CN 201910919221 A CN201910919221 A CN 201910919221A CN 110656609 B CN110656609 B CN 110656609B
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- Prior art keywords
- sweeping
- obstacle
- pressure
- cleaning
- pressure sensor
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides a sweeping apparatus, including: an apparatus main body; sweep the dish subassembly, sweep the dish subassembly and include along sweeping dish mechanism, elastic component and the pressure sensor mechanism of horizontal setting, pressure sensor mechanism links to each other with the equipment main part, and the elastic component setting is swept between dish mechanism and pressure sensor mechanism, and pressure sensor mechanism can gather the barrier and to sweeping the pressure of dish mechanism. The technical scheme of the invention effectively solves the problem that the cleaning equipment in the prior art is difficult to clean near the obstacles such as wall bodies, road teeth and the like, and sanitary blind areas are easy to form.
Description
Technical Field
The invention relates to the technical field of environmental sanitation equipment, in particular to cleaning equipment.
Background
Along with the improvement of living standard of people, the requirement of people on environmental sanitation is higher and higher. Cleaning of roads, markets and the like usually adopts cleaning equipment to replace a manual cleaning mode, so that the labor intensity is greatly saved, and the working efficiency is improved.
When cleaning equipment is used for cleaning, the cleaning equipment is often difficult to clean at a position close to obstacles such as walls, road teeth and the like. The cleaning equipment is close to the barrier and easily causes the damage of the cleaning disc, and when the cleaning equipment is far away from the barrier, the cleaning equipment can leave a sanitary blind area and cannot clean the cleaning equipment.
Disclosure of Invention
The invention mainly aims to provide cleaning equipment to solve the problem that a sanitary blind area is easily formed near obstacles such as a wall body, a road curb and the like by the cleaning equipment in the prior art.
In order to achieve the above object, the present invention provides a sweeping apparatus comprising: an apparatus main body; sweep the dish subassembly, sweep the dish subassembly and include along sweeping dish mechanism, elastic component and the pressure sensor mechanism of horizontal setting, pressure sensor mechanism links to each other with the equipment main part, and the elastic component setting is swept between dish mechanism and pressure sensor mechanism, and pressure sensor mechanism can gather the barrier and to sweeping the pressure of dish mechanism.
Further, the cleaning equipment also comprises a control mechanism, and the pressure sensor mechanism is electrically connected with the control mechanism.
Furthermore, the cleaning equipment also comprises a travelling mechanism which is arranged on the equipment main body and connected with the control mechanism, and the control mechanism can control the travelling mechanism through a preset pressure range acquired by the pressure sensor mechanism.
Further, the minimum value of the preset pressure range is a first threshold value, the maximum value of the preset pressure range is a second threshold value, and under the condition that the pressure is smaller than the first threshold value, the cleaning equipment is controlled to move in the direction close to the obstacle; and controlling the sweeping equipment to move in the direction away from the obstacle under the condition that the pressure is greater than the second threshold value.
Further, the elastic piece includes the spring, and the first end of spring has first connecting portion, and the second end of spring has the second connecting portion, and first connecting portion are connected with pressure sensor mechanism, and the second connecting portion are connected with sweeping the dish mechanism.
Further, the sweeping disc mechanism comprises a sweeping disc, a motor and a gear transmission structure, and the motor is connected with the sweeping disc through the gear transmission structure.
Further, the sweeping disc mechanism further comprises a gear box, the gear transmission structure is arranged in the gear box, and the second end of the spring is connected with the gear box.
Further, sweep a set mechanism and still include the rubbish sunction inlet, clean equipment and still include fan, rubbish and hold chamber, rubbish passageway and exhaust passage, the rubbish passageway sets up between rubbish sunction inlet and rubbish hold the chamber, and exhaust passage and rubbish hold the chamber and be linked together, and the fan setting is in exhaust passage.
Further, clean equipment still includes filtration, and filtration sets up in the rubbish and holds the chamber and exhaust passage's junction.
Further, the cleaning equipment is a sweeping robot or a sweeping vehicle.
By applying the technical scheme of the invention, when the cleaning equipment is used for cleaning garbage, the cleaning equipment is close to the wall or the road curb and other obstacles, and when the pressure sensor mechanism detects that the pressure of the sweeping disc mechanism and the obstacles is higher. The cleaning equipment can be far away from the obstacle, so that the use safety of the cleaning equipment can be ensured. When the pressure sensor mechanism detects that the pressure between the sweeping disc mechanism and the barrier is small or zero, the sweeping disc mechanism can be close to the barrier such as a wall body or a road curb, and a sanitary blind area is guaranteed not to be left. The technical scheme of the invention effectively solves the problem that the cleaning equipment in the prior art is difficult to clean near the obstacles such as wall bodies, road teeth and the like, and sanitary blind areas are easy to form.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a schematic construction of an embodiment of a sweeping apparatus according to the invention; and
FIG. 2 shows a schematic diagram of a control mechanism according to an embodiment of the invention.
Wherein the figures include the following reference numerals:
01. an obstacle; 10. an apparatus main body; 20. a sweeping disk assembly; 21. a tray sweeping mechanism; 22. an elastic member; 23. a pressure sensor mechanism; 100. a collection unit; 200. a first control unit.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, the thicknesses of layers and regions are exaggerated for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.
As shown in fig. 1, the sweeping apparatus of the present embodiment includes: an apparatus body 10 and a sweeping tray assembly 20. The sweeping disc assembly 20 comprises a sweeping disc mechanism 21, an elastic member 22 and a pressure sensor mechanism 23 which are arranged along the transverse direction, the pressure sensor mechanism 23 is connected with the equipment main body 10, the elastic member 22 is arranged between the sweeping disc mechanism 21 and the pressure sensor mechanism 23, and the pressure sensor mechanism 23 can acquire the pressure of the obstacle 01 on the sweeping disc mechanism 21.
By applying the technical scheme of the embodiment, when the cleaning equipment is used for cleaning garbage, the cleaning equipment is close to the wall or the barrier 01 such as a road curb, and when the pressure sensor mechanism 23 detects that the pressure of the sweeping disc mechanism and the pressure of the barrier 01 are larger. The cleaning equipment can be far away from the obstacle 01, so that the use safety of the cleaning equipment can be ensured. When the pressure sensor mechanism 23 detects that the pressure between the sweeping disc mechanism and the barrier 01 is small or zero, the sweeping disc mechanism can be close to the barrier 01 such as a wall body or a road curb, and a sanitary blind area is not reserved. The technical scheme of the invention effectively solves the problem that the cleaning equipment in the prior art is difficult to clean near the obstacles 01 such as wall bodies, road teeth and the like and is easy to form a sanitary blind area.
In the present embodiment, the pressure of the obstacle 01 against the sweeping wheel mechanism 21, which is acquired by the pressure sensor mechanism 23, is mainly a horizontal pressure.
As shown in fig. 1, in the solution of the present embodiment, the cleaning device further includes a control mechanism, and the pressure sensor mechanism 23 is electrically connected to the control mechanism. The pressure measured by the pressure sensor mechanism 23 is collected by the control mechanism, so that the pressure is easier to collect by an operator. In addition, the control mechanism is easier to control after being electrically connected with other parts, thereby being beneficial to realizing the automatic control of the cleaning equipment.
As shown in fig. 1, in the solution of this embodiment, the cleaning device further includes a traveling mechanism, the traveling mechanism is disposed on the device main body 10 and connected to the control mechanism, and the control mechanism can control the traveling mechanism through a predetermined pressure range collected by the pressure sensor mechanism 23. The walking mechanism is convenient to move, the walking mechanism is controlled to move through the collected pressure, the automation degree of the cleaning equipment is greatly improved, and the reaction is sensitive.
As shown in fig. 1, in the solution of the present embodiment, the minimum value of the predetermined pressure range is a first threshold value, the maximum value of the predetermined pressure range is a second threshold value, and in the case that the pressure is smaller than the first threshold value, the cleaning device is controlled to move in the direction approaching the obstacle 01; in case the pressure is greater than the second threshold value, the sweeping device is controlled to move in a direction away from the obstacle 01. Under the condition that the cleaning equipment is determined not to be in the state of being attached to the obstacle 01 for cleaning, the cleaning equipment is controlled to move along the current movement track until the cleaning equipment is determined to be in the state of being attached to the obstacle 01 for cleaning, the pressure between a sweeping disc mechanism of the cleaning equipment and the obstacle 01 is collected, the preset range corresponding to the pressure between the cleaning mechanism and the obstacle 01 is obtained, the pressure is compared with the preset range, and the movement track of the cleaning equipment is controlled according to the comparison result.
In order to further accurately judge the positional relationship between the sweeping tray mechanism 21 of the cleaning apparatus and the obstacle 01, and thereby determine whether the cleaning apparatus is in the cleaning state of being in close contact with the obstacle 01, in one embodiment of the present application, determining whether the cleaning apparatus is in the cleaning state of being in close contact with the obstacle 01 includes: acquiring the distance between the current motion track of the cleaning equipment and an obstacle 01; and determining whether the cleaning equipment is in a wall-attached cleaning state or not according to the distance. Specifically, a threshold distance is set, when the distance between the current motion track of the cleaning device and the obstacle 01 is smaller than the threshold distance, it is determined that the cleaning device is in a wall-attached cleaning state, and when the distance between the current motion track of the cleaning device and the obstacle 01 is larger than the threshold distance, it is determined that the cleaning device is not in a wall-attached cleaning state, and a suitable threshold distance can be selected by a person skilled in the art according to actual conditions. It should be noted that, cleaning equipment still includes lidar, and lidar sets up on equipment main part 10 and is connected with control mechanism electricity, and through lidar's distance and the pressure of pressure sensor mechanism 23, dual judgement cleaning equipment is whether pastes on obstacle 01, and such structure makes cleaning equipment's distance judgement more accurate.
In this embodiment, controlling the movement of the cleaning device according to the pressure includes: and controlling the cleaning equipment to move according to a preset route when the pressure is in a preset range, wherein the minimum value of the preset range is a first threshold value, and the maximum value of the preset range is a second threshold value. The preset route is a route for cleaning equipment to clean the obstacle 01, and when the pressure between the disc sweeping mechanism 21 of the cleaning equipment and the obstacle 01 is within a preset range, the cleaning equipment moves according to the preset route, so that a cleaning blind area can be prevented from being formed, and the disc sweeping mechanism 21 can be prevented from scraping the obstacle 01.
The first threshold and the second threshold may be determined according to the performance of the sweep mechanism 21, for example, when the sweep mechanism 21 includes a wiper and a spring, the first threshold and the second threshold are determined according to the elastic modulus of the wiper and the spring.
In order to adjust the pressure between the sweeping disk mechanism 21 of the cleaning device and the obstacle 01 to be out of the predetermined range during the actual cleaning process, so that the cleaning device avoids forming a cleaning blind area and scraping the obstacle 01 during the cleaning process of attaching the obstacle 01, in one embodiment of the present application, the method for controlling the movement of the cleaning device according to the pressure comprises: controlling the cleaning device to move in a direction to approach the obstacle 01 when the pressure is smaller than a first threshold value, the first threshold value being a minimum value of the predetermined range; and controlling the cleaning device to move in a direction away from the obstacle 01 when the pressure is greater than a second threshold value, wherein the second threshold value is the maximum value of the predetermined range. And in the case that the pressure is not in the preset range, controlling the cleaning equipment not to move according to the preset route, and making an adjusting route according to the pressure and the preset route, and controlling the cleaning equipment to move along the adjusting route.
Specifically, the pressure being less than the first threshold value indicates that there is a gap between the sweeping disk mechanism 21 of the sweeping apparatus and the obstacle 01, resulting in a cleaning blind area after sweeping, in which case the sweeping apparatus is controlled to move in a direction close to the obstacle 01, so that the pressure between the sweeping disk mechanism 21 and the obstacle 01 is adjusted to be within a predetermined range, and a gap between the sweeping disk mechanism 21 of the sweeping apparatus and the obstacle 01 is prevented, thereby preventing a cleaning blind area from being formed after sweeping. The pressure is greater than the second threshold value, which indicates that the distance between the disc sweeping mechanism 21 of the cleaning device and the obstacle 01 is too small, the cleaning device is easy to scratch the obstacle 01 in the process of cleaning the obstacle 01, and under the condition, the cleaning device is controlled to move in the direction away from the obstacle 01, so that the pressure between the disc sweeping mechanism 21 and the obstacle 01 is adjusted to be within a preset range, the situation that the obstacle 01 is scratched in the process of cleaning the obstacle 01 by the cleaning device attached to the obstacle 01 is avoided, the structural deformation of the disc sweeping mechanism 21 is avoided, and the service life of the cleaning device is prolonged.
As shown in fig. 2, the control mechanism includes: the collecting unit 100 is used for collecting the pressure between the sweeping disc mechanism 21 of the sweeping equipment and the obstacle 01; and a first control unit 200 for controlling the movement of the cleaning device according to the pressure.
In the control mechanism, the acquisition unit acquires the pressure between the sweeping disc mechanism 21 of the cleaning equipment and the obstacle 01, the position relation between the sweeping disc mechanism 21 and the obstacle 01 can be judged according to the pressure, namely the larger the pressure is, the closer the distance between the sweeping disc mechanism 21 and the obstacle 01 is, and the first control unit controls the movement of the cleaning equipment according to the pressure, so that the cleaning equipment can clean in a proper area. The control mechanism collects the pressure between the sweeping disc mechanism 21 and the obstacle 01 of the sweeping device, so that the position relation between the sweeping disc mechanism 21 and the obstacle 01 of the sweeping device is accurately judged, the movement of the sweeping device is controlled according to the position relation between the sweeping disc mechanism 21 and the obstacle 01, and the cleaning blind area and the obstacle 01 are prevented from being scratched by the sweeping device in the sweeping process.
In an embodiment of the present application, the first control unit includes a first determining module, a first obtaining module and a first control module, where the first determining module is configured to determine whether the cleaning device is in a cleaning state attached to the obstacle 01 according to a current motion trajectory, the first obtaining module is configured to obtain a predetermined range corresponding to a pressure between the sweeping tray mechanism 21 and the obstacle 01 according to the state of the cleaning device, and the first control module is configured to compare the collected pressure with the predetermined range, and control the cleaning device to move according to a comparison result. The control method can control the cleaning equipment to move according to the state of the cleaning equipment, so that the cleaning effect of the cleaning equipment is further improved, and the cleaning equipment is further prevented from forming a cleaning blind area and scraping a wall surface in the cleaning process.
In practical application, when the cleaning device is attached to the obstacle 01 for cleaning, a blind area cleaning and the obstacle 01 scratching are more likely to occur, and when other cleaning states are not substantially caused, the blind area cleaning and the obstacle 01 scratching are not likely to occur, therefore, in an embodiment of the present application, the control mechanism further includes a determination unit, the determination unit is configured to determine whether the cleaning device is in the cleaning state attached to the obstacle 01 before the determination unit acquires the pressure between the disc cleaning mechanism 21 of the cleaning device and the obstacle 01, and the acquisition unit is further configured to acquire the pressure between the disc cleaning mechanism 21 of the cleaning device and the obstacle 01 when the determination unit determines that the cleaning device is in the cleaning state attached to the obstacle 01. In the control mechanism, whether the cleaning equipment is in a cleaning state attached to the obstacle 01 or not is determined through the determination unit, the pressure between the sweeping disc mechanism 21 of the cleaning equipment and the obstacle 01 is collected through the collection unit under the condition that the cleaning equipment is determined to be in the cleaning state attached to the obstacle 01, on the contrary, the pressure between the sweeping disc mechanism 21 of the cleaning equipment and the obstacle 01 is not collected through the collection unit under the condition that the cleaning equipment is determined not to be in the cleaning state attached to the obstacle 01, unnecessary steps are omitted, and the control efficiency of the cleaning equipment is improved.
The control unit controls the cleaning device to move along the current movement track when it is determined that the cleaning device is not in the cleaning state attached to the obstacle 01 until it is determined that the cleaning device is in the cleaning state attached to the obstacle 01, collects the pressure between the sweeping disc mechanism 21 of the cleaning device and the obstacle 01, obtains a predetermined range corresponding to the pressure between the sweeping disc mechanism 21 and the obstacle 01, compares the pressure with the predetermined range, and controls the cleaning device to move according to the comparison result.
In order to further accurately judge the position relationship between the sweeping disc mechanism 21 of the cleaning device and the obstacle 01, so as to determine whether the cleaning device is in a cleaning state attached to the obstacle 01, in an embodiment of the present application, the determining unit includes a first obtaining module and a second determining module, wherein the first obtaining module is used for obtaining the distance between the current motion track of the cleaning device and the obstacle 01; the second determining module is used for determining whether the cleaning equipment is in a cleaning state of being attached to the obstacle 01 or not according to the distance. Specifically, a threshold distance is set, when the distance between the current motion track of the cleaning device and the obstacle 01 is smaller than the threshold distance, it is determined that the cleaning device is in the cleaning state attached to the obstacle 01, and when the distance between the current motion track of the cleaning device and the obstacle 01 is larger than the threshold distance, it is determined that the cleaning device is not in the cleaning state attached to the obstacle 01, and a suitable threshold distance can be selected by a person skilled in the art according to actual conditions.
In an embodiment of the application, the first control unit includes a second control module, wherein the second control module is configured to control the cleaning device to move according to a predetermined route when the pressure is within a predetermined range, a minimum value of the predetermined range is a first threshold, and a maximum value of the predetermined range is a second threshold. The preset route is a route for cleaning equipment to be attached to the obstacle 01 in a cleaning mode, when the pressure between the disc sweeping mechanism 21 of the cleaning equipment and the obstacle 01 is within a preset range, the cleaning equipment moves according to the preset route, a cleaning blind area can be guaranteed to be prevented from being formed, and the disc sweeping mechanism 21 can be prevented from scraping a wall surface.
In order to adjust the pressure between the sweeping disc mechanism 21 of the cleaning device and the obstacle 01 to be out of the predetermined range during actual cleaning, so that the cleaning device can avoid forming a cleaning blind area and scraping the obstacle 01 during cleaning while being attached to one side of the obstacle 01, in one embodiment of the present application, the first control unit further includes a third control module and a fourth control module, wherein the third control module is configured to control the cleaning device to move in a direction close to the obstacle 01 when the pressure is smaller than a first threshold, and the first threshold is a minimum value of the predetermined range; the fourth control module is configured to control the cleaning device to move in a direction away from the obstacle 01 when the pressure is greater than a second threshold, where the second threshold is a maximum value of the predetermined range. And in the case that the pressure is not in the preset range, controlling the cleaning equipment not to move according to the preset route, and making an adjusting route according to the pressure and the preset route, and controlling the cleaning equipment to move along the adjusting route.
Specifically, if the pressure is less than the first threshold, it indicates that there is a gap between the sweeping disc mechanism 21 of the sweeping device and the obstacle 01, and a cleaning blind area is formed after sweeping, in this case, the sweeping device is controlled to move in a direction close to the obstacle 01, so that the pressure between the sweeping disc mechanism 21 and the wall surface is adjusted to be within a predetermined range, and a gap between the sweeping disc mechanism 21 of the sweeping device and the obstacle 01 is prevented, and thus a cleaning blind area is prevented from being formed after sweeping. The pressure is greater than the second threshold value, which indicates that the distance between the sweeping disc mechanism 21 of the sweeping device and the obstacle 01 is too small, the sweeping device is easy to scratch the obstacle 01 when being attached to the obstacle 01 in the sweeping process, and under the condition, the sweeping device is controlled to move in the direction away from the obstacle 01, so that the pressure between the sweeping disc mechanism 21 and the obstacle 01 is adjusted to be within a preset range, the obstacle 01 is prevented from being scratched when the sweeping device is attached to the obstacle 01 in the sweeping process, the deformation of the sweeping disc mechanism 21 is avoided, and the service life of the sweeping device is prolonged.
In the practical application process, in order to further ensure that the pressure is controlled within the preset range, so as to further avoid the cleaning equipment from forming a cleaning blind area and scraping the obstacle 01 in the process of cleaning the obstacle 01, the control mechanism further comprises a second control unit, wherein the second control unit comprises a second acquisition module and a fifth control module, the second acquisition module is used for detecting the pressure between the cleaning equipment and the obstacle 01 in the process that the cleaning equipment moves according to an adjustment route, and the fifth control module is used for adjusting the adjustment route under the condition that the pressure is not within the preset range until the pressure between the cleaning equipment and the obstacle 01 is within the preset range.
Specifically, the adjustment route may be adjusted by controlling the cleaning device to move a predetermined distance in a direction away from or close to the obstacle 01 until the pressure between the cleaning device and the wall surface is within a predetermined range. The skilled person can select a suitable predetermined distance according to the actual situation, for example, the predetermined distance can be set as the minimum moving distance of the servo motor of the cleaning device.
In an embodiment of the application, the first control unit further includes a sixth control module, where the sixth control module is configured to control the cleaning device to perform emergency braking when the pressure is greater than a third threshold value, and the third threshold value is greater than the second threshold value. Specifically, when the pressure is greater than the third threshold value, it is determined that the cleaning device has collided with the obstacle 01, and the cleaning device is controlled to perform emergency braking to avoid secondary collision. The skilled person can select a suitable third threshold value according to the actual situation, for example, the third threshold value is determined according to the movement speed and quality of the sweeping device.
In a specific embodiment of the present application, the sweeping disk mechanism 21 includes a sweeping brush, and the collecting unit is further configured to collect pressure between the sweeping brush and the obstacle 01 by using a pressure sensor mechanism 23. The method collects the pressure between the sweeping brush and the obstacle 01 through the pressure sensor mechanism 23, improves the accuracy of collecting the pressure between the sweeping disc mechanism 21 of the sweeping equipment and the obstacle 01, and further accurately judges the position relation between the sweeping disc mechanism 21 of the sweeping equipment and the obstacle 01.
It should be noted that, in order to further acquire the accuracy of the pressure between the sweeping disk mechanism 21 of the cleaning apparatus and the wall surface, and thus further accurately determine the position relationship between the sweeping disk mechanism 21 of the cleaning apparatus and the obstacle 01, the acquiring unit is further configured to acquire the pressure between the sweeping brush and the obstacle 01 by using a plurality of pressure sensors in different rows.
The control mechanism comprises a processor and a memory, the acquisition unit, the first control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the position relation between the sweeping disc mechanism 21 of the cleaning equipment and the wall surface can be accurately judged by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
As shown in fig. 1, in the solution of the present embodiment, the elastic member 22 includes a spring, a first end of the spring has a first connection portion, a second end of the spring has a second connection portion, the first connection portion is connected with the pressure sensor mechanism 23, and the second connection portion is connected with the sweeping disk mechanism 21. The spring is low in processing cost and convenient to manufacture. It is possible that the first connecting portion is connected to the pressure sensor mechanism 23 by welding or by a fastener. The second connecting part and the sweeping disk mechanism 21 can also be connected by welding or by fastening.
As shown in fig. 1, in the technical solution of this embodiment, the sweeping disk mechanism 21 includes a sweeping disk, a motor and a gear transmission structure, and the motor is connected to the sweeping disk through the gear transmission structure. The above-described tray sweeping mechanism 21 is compact.
As shown in fig. 1, in the solution of this embodiment, the sweeping disk mechanism 21 further includes a gear box, the gear transmission structure is disposed in the gear box, and the second end of the spring is connected to the gear box. The gear box effectively protects the gear transmission structure from being polluted or damaged.
As shown in fig. 1, in the technical solution of this embodiment, the sweeping tray mechanism 21 further includes a garbage suction port, the sweeping device further includes a blower, a garbage accommodating cavity, a garbage passage and an air exhaust passage, the garbage passage is disposed between the garbage suction port and the garbage accommodating cavity, the air exhaust passage is communicated with the garbage accommodating cavity, and the blower is disposed in the air exhaust passage. The arrangement of the garbage inlet, the fan, the garbage containing cavity, the garbage channel and the air exhaust channel enables the cleaned garbage to be stored in the cleaning equipment at any time.
In the technical solution of this embodiment (not shown in the figure), the cleaning device further includes a filtering structure, and the filtering structure is disposed at a connection position of the garbage accommodating cavity and the air exhaust channel. The setting of filtration makes rubbish can not get into the fan, can protect the fan effectively like this. Specifically, filtration includes fixed frame, filter pulp and silk screen, and fixed frame and silk screen enclose and establish into filter pulp accommodation space, and the filter pulp setting is in filter pulp accommodation space.
It should be noted that the cleaning device may be a cleaning robot or a cleaning vehicle.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A sweeping apparatus, comprising:
an apparatus main body (10);
the sweeping disc assembly (20) comprises a sweeping disc mechanism (21), an elastic piece (22) and a pressure sensor mechanism (23) which are arranged along the transverse direction, the pressure sensor mechanism (23) is connected with the equipment main body (10), the elastic piece (22) is arranged between the sweeping disc mechanism (21) and the pressure sensor mechanism (23), and the pressure sensor mechanism (23) can acquire the pressure of an obstacle (01) on the sweeping disc mechanism (21);
the control mechanism comprises a first control unit and a determination unit, wherein the determination unit is used for determining whether the sweeping disc mechanism (21) is in a cleaning state attached to the obstacle (01) before acquiring the pressure between the obstacle (01) and the sweeping disc mechanism (21); the pressure sensor mechanism is connected with the first control unit;
the first control unit includes: the first acquisition module is used for acquiring a preset pressure range corresponding to the pressure between the disc sweeping mechanism (21) and the obstacle (01) according to the state of the cleaning equipment; and the first control module is used for comparing the pressure detected by the pressure sensor mechanism with a preset range and controlling the cleaning equipment to move according to a comparison result.
2. Sweeping device according to claim 1, characterized in that the pressure sensor means (23) are electrically connected with the control means.
3. The sweeping apparatus according to claim 2, further comprising a traveling mechanism provided on said apparatus main body (10) and connected to said control mechanism, said control mechanism being capable of controlling said traveling mechanism through a predetermined pressure range acquired by said pressure sensor mechanism (23).
4. The sweeping apparatus according to claim 3, wherein a minimum value of said predetermined pressure range is a first threshold value, a maximum value of said predetermined pressure range is a second threshold value,
-controlling the sweeping device to move in a direction close to the obstacle (01) in case the pressure is smaller than a first threshold value;
-controlling the sweeping device to move in a direction away from the obstacle (01) in case the pressure is larger than a second threshold value.
5. The sweeping apparatus according to any one of claims 1 to 4, wherein the elastic member (22) includes a spring having a first connection portion at a first end thereof and a second connection portion at a second end thereof, the first connection portion being connected to the pressure sensor mechanism (23), the second connection portion being connected to the sweeping tray mechanism (21).
6. Sweeping device according to claim 5, characterized in that the sweeping disc mechanism (21) comprises a sweeping disc, a motor and a gear transmission structure, the motor and the sweeping disc being connected by the gear transmission structure.
7. Sweeping device according to claim 6, wherein the sweeping tray mechanism (21) further comprises a gear box, the gear transmission being arranged inside the gear box, the second end of the spring being connected to the gear box.
8. The sweeping device according to claim 6, wherein said sweeping tray mechanism (21) further comprises a garbage suction port, said sweeping device further comprises a blower, a garbage accommodating chamber, a garbage passage and an air exhaust passage, said garbage passage is disposed between said garbage suction port and said garbage accommodating chamber, said air exhaust passage is communicated with said garbage accommodating chamber, and said blower is disposed in said air exhaust passage.
9. The sweeping apparatus according to claim 8, further comprising a filter structure provided at a junction of said waste accommodating chamber and said air discharge passage.
10. The sweeping apparatus according to any one of claims 1 to 4, wherein the sweeping apparatus is a sweeping robot or a sweeping vehicle.
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| CN201910919221.1A CN110656609B (en) | 2019-09-26 | 2019-09-26 | Cleaning equipment |
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| CN111329397B (en) * | 2020-03-14 | 2021-04-30 | 新昌县集禾汇线束有限公司 | Automatic ash removal device in ceramic tile gap for building |
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